WO2022266807A1

WO2022266807A1 - Unmanned aerial vehicle

Info

Publication number: WO2022266807A1
Application number: PCT/CN2021/101294
Authority: WO
Inventors: 肖翔
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-06-21
Filing date: 2021-06-21
Publication date: 2022-12-29
Also published as: CN117561202A

Abstract

An unmanned aerial vehicle (100), comprising a fuselage (10) and a plurality of arms (20). The plurality of arms (20) are rotatably connected to the fuselage (10) to allow the unmanned aerial vehicle (100) to be in a folded state or an unfolded state; a free end of each arm (20) is connected to a power assembly (21); during the switching process of the unmanned aerial vehicle (100) between the folded state and the unfolded state, each arm (20) rotates around an inclined axis (31); and in the folded state, the arms (20) are retracted on the circumferential side surfaces (11) of the fuselage (10), and the plurality of power assemblies (21) are basically fitted.

Description

drone

technical field

The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle.

Background technique

UAVs have been widely used in aerial photography, industry inspections, disaster relief operations and other fields in recent years, and continue to develop towards miniaturization and portability. This requires that the drone can be easily carried and stored when not in use. Usually, in order to meet this requirement, the arms of the UAV can be folded, and the maximum size of the UAV can be reduced by folding to facilitate carrying and storage. Therefore, it is necessary to provide a folding scheme for the arm, which can make the shape of the UAV in the folded state as regular as possible without obvious protrusions, so as to fill the enveloping cube surrounded by the maximum size of the UAV to the greatest extent. volume inside.

Contents of the invention

Embodiments of the present application provide a drone.

An embodiment of the present application provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes a fuselage and a plurality of arms. A plurality of arms are rotatably connected to the fuselage, so that the UAV can be in a folded state and an unfolded state, and the free ends of the arms are connected with power components, wherein, when the UAV is in the folded state In the process of switching between the unfolded state and the unfolded state, the arm rotates around an inclined shaft, and in the folded state, the arm is folded on the circumferential side of the fuselage, and a plurality of the power components are basically attached.

In the unmanned aerial vehicle of the embodiment of the present application, when the unmanned aerial vehicle is in the folded state, the arms can be folded on the circumferential side of the fuselage, and a plurality of power components are basically attached, so that the unmanned aerial vehicle is in the folded state, without The arm and power components of the man-machine fill the volume of the envelope cube surrounded by the maximum size of the drone to the maximum extent, which improves the convenience of the drone.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and understandable from the description of the embodiments in conjunction with the following drawings, wherein:

FIG. 1 is a schematic structural view of an unmanned aerial vehicle in an unfolded state according to an embodiment of the present application;

Fig. 2 is a schematic structural view of the tripod of the drone in the embodiment of the present application in a folded state;

FIG. 3 is a schematic structural view of the UAV in a folded state according to the embodiment of the present application;

Fig. 4 is the perspective view of the unmanned aerial vehicle of the embodiment of the present application;

Fig. 5 is a schematic diagram of the folding process scene of the drone according to the embodiment of the present application;

6 to 8 are perspective views of the drone according to the embodiment of the present application;

FIG. 9 is a schematic structural view of the unmanned aerial vehicle in the deployed state according to the embodiment of the present application;

FIG. 10 is a schematic structural view of the UAV in a folded state according to the embodiment of the present application;

FIG. 11 and FIG. 12 are schematic structural views of the pan-tilt camera of the drone according to the embodiment of the present application;

Fig. 13 is a schematic structural diagram of the battery of the drone in the embodiment of the present application in a pulled-out state.

detailed description

Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, are only for explaining the present application, and should not be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of said features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In the description of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. connected, or integrally connected. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

The following disclosure provides many different implementations or examples for implementing different structures of the present application. To simplify the disclosure of the present application, components and arrangements of specific examples are described below. Of course, they are examples only and are not intended to limit the application.

In this application, unless otherwise expressly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "under" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

The present application may repeat reference numerals and/or reference letters in various instances, such repetition is for the purposes of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, various specific process and material examples are provided herein, but one of ordinary skill in the art may recognize the use of other processes and/or the use of other materials.

Referring to FIG. 1 and FIG. 4 , the UAV 100 includes a body 10 and a plurality of arms 20 . A plurality of machine arms 20 are rotatably connected to the fuselage 10, so that the unmanned aerial vehicle 100 can be in a folded state and an unfolded state, and the free ends of the machine arms 20 are connected with a power assembly 21. In the process of switching between states, the arm 20 rotates around a tilting shaft 13 , and in the folded state, the arm 20 is closed to the circumferential side 11 of the fuselage 10 , and the plurality of power components 21 are basically attached.

In the UAV 100 according to the embodiment of the present application, when the UAV 100 is in a folded state, the machine arm 20 can be folded on the circumferential side 11 of the fuselage 10, and a plurality of power components 21 are basically attached, so that the UAV 100 is in a folded state. In the folded state, the arm 20 and the power assembly 21 of the UAV 100 fill up the volume of the enveloping cube surrounded by the maximum size of the UAV 100 to the greatest extent, which improves the convenience of the UAV 100 .

The UAV 100 in the embodiment of the present application may be used to perform tasks including but not limited to patrolling, exploration, photography, photographing, and agriculture.

Please refer to FIG. 1 and FIG. 2 together. The drone 100 according to the embodiment of the present application includes a fuselage 10 , a plurality of arms 20 , a pan-tilt camera 30 , an obstacle avoidance component 40 , and a battery 50 . A plurality of arms 20 are rotatably connected to the fuselage 10 . The pan-tilt camera 30 is connected to the bottom 103 of the fuselage 10 . The obstacle avoidance components 40 are distributed on the drone 100 , and the obstacle avoidance components 40 can realize effective obstacle perception and obstacle avoidance, ensuring the safety of the drone 100 during work. The battery 50 is at least partially accommodated in the fuselage 10 , and the battery 50 can provide electric energy for the drone 100 . In one embodiment, most of the battery is accommodated in the body, and the top of the battery can be exposed from the body, so as to facilitate maintenance and other operations on the battery.

In one embodiment, the circumferential side 11 includes a first side 101 and a second side 102 opposite to each other. The circumferential side 11 of the fuselage 10 is provided with a mounting portion 111 , and each of the first side 101 and the second side 102 is provided with a mounting portion. The fuselage 10 also includes a bottom 103 and a top surface 104 . The bottom 103 of the fuselage 10 defines an accommodating slot 1031 , and the bottom 103 of the fuselage 10 is also connected with a tripod 12 . The top surface 104 of the fuselage 10 defines a receiving groove 1041 .

The tripod 12 is connected to the bottom 103 of the fuselage 10 , and the tripod 12 is foldable. When the UAV 100 is in a folded state, the tripod 12 is folded on the circumferential side 11 of the fuselage 10 . At least a portion of the arm 20 covers at least a portion of the stand 12. The stand 12 includes an unfolded state and a folded state. Please refer to FIG. 1 , which is a schematic diagram of the stand 12 in an unfolded state. Please refer to FIG. 2 , which is a schematic diagram of the stand 12 being folded. The tripod 12 can support the UAV 100 when it is unfolded, and can make the UAV 100 rise on the ground or the platform smoothly; it can also make the UAV 100 land on the ground or the platform smoothly. In some implementations, the fuselage 10 is provided with a gripping portion, through which the user can use the drone 100 by hand. That is to say, the user can disassemble the tripod 12 and hold the handle to raise and lower. The stand 12 includes four supports, all of which can be manually expanded and folded, or electrically expanded and folded, which is not specifically limited here. When the tripod 12 is in the folded state, the four tripod supports are all gathered in the circumferential side 11 of the fuselage 10, the tripod support can be close to the circumferential side 11, and at least a part of the arm 20 covers at least part of the tripod 12. In part, the shape of the UAV 100 in the folded state is as regular as possible without obvious protrusions. It can be understood that, in other embodiments, the stand may also be non-foldable, that is, the stand is fixed to maintain an unfolded state.

The arm 20 includes a first section 201 and a second section 202 connected. The free end of the arm 20 is connected with a power assembly 21 , that is to say, in the embodiment shown in FIG. 1 , the end of the second section 202 is connected with a power assembly 21 , and the power assembly 21 includes a motor 211 and a propeller 212 . The plurality of arms 20 includes a first arm set 22 and a second arm set 24 .

Please refer to FIGS. 1 to 3 together. FIG. 1 is a schematic diagram of the structure of the drone 100 in an unfolded state, and FIG. 3 is a schematic diagram of the structure of the drone 100 in a folded state. Specifically, when the UAV 100 is switched between the folded state and the unfolded state, each arm 20 rotates around a tilting axis 13 . Please refer to FIG. 4 , the UAV 100 includes a tilting shaft 13, which is connected to the fuselage 10 and the arm 20. The tilting shaft 13 is obliquely arranged in the fuselage 10. The tilting shaft 13 can be understood as that the axis of rotation is not perpendicular to the rotation axis. The axis of rotation of the plane. The tilting shaft 13 includes a rotation axis L. It can be seen from FIG. The formed rotation plane is not perpendicular to the tilting axis of rotation 13 . Please refer to FIG. 5 . FIG. 5 is a schematic diagram of a scene where one arm 21 of the UAV 100 is switched from an unfolded state to a folded state. When the machine arm 20 is switched from the unfolded state to the folded state, the downward folding rotation and twisting rotation of the machine arm 20 can be realized by one rotation, so that the machine arm 21 can be well folded on the circumferential side 11 of the fuselage 10 .

Please refer to FIG. 6 to FIG. 8 together. Specifically, the fuselage 10 includes a first plane C1 , a second plane C2 and a third plane C3 that are orthogonal to each other. The first surface C1 can be understood as the front of the fuselage 10 , the second surface C2 can be understood as the top surface of the fuselage 10 , and the third surface C3 can be understood as the right side of the fuselage 10 . Please refer to FIG. 6 , from a top view, the first included angle α between the rotation axis L of the machine arm 20 and the plane where the first surface C1 is located is selected from the range (0°, 90°), preferably, the first included angle α = 34°. Please refer to Fig. 7, from the front view, the second included angle β between the rotation axis L of the machine arm 20 and the plane where the second surface C2 is located is selected from the range (0°, 90°), preferably, the second included angle β = 21°. Please refer to Fig. 8, from the right side view, the third included angle γ between the rotation axis L of the machine arm 20 and the plane where the second surface C2 is located is selected from the range (0°, 90°), preferably, the third included angle γ = 45°. When the first included angle α=34°, the second included angle β=21°, and the third included angle γ=45°, the propeller 212 of the drone 100 can basically Level. In some embodiments, the size of the first included angle α, the size of the second included angle β and the size of the third included angle γ can also be selected within a certain range, so that the propeller 212 of the UAV 100 and the horizontal plane meet the design requirements. angle.

In the embodiment shown in FIG. 4 , the first surface C1 is the front side of the fuselage, the second surface C2 is the top surface of the fuselage 10 , and the third surface C3 is the right side of the fuselage. It can be understood that the first surface C1 , the second surface C2 and the third surface C3 can be specifically set according to the configuration of the fuselage, and are not limited to the above-mentioned front side, top surface and right side.

When the drone 100 is in the folded state, the arms 20 of the same arm group are arranged side by side on the side, so that the shape of the drone 100 in the folded state is as regular as possible without obvious protrusions.

Please refer to FIG. 1 again, the arm 20 includes a first section 201 and a second section 202 connected, the first section 201 is rotatably connected to the fuselage 10 , and the second section 202 is inclined upward at a preset acute angle relative to the first section 201 . That is to say, the connection between the first section 201 and the second section 202 is not connected at 180 degrees, and the connection between the first section 201 and the second section 202 is at a certain angle, so that in the folded state, the arm The turning structure formed by the first section 201 and the second section 202 of 20 can make the motor 211 not protrude from the outline of the fuselage 10, making the folded UAV 100 more regular and compact, and enhancing the portability of the UAV 100. It is worth mentioning that, relative to the first section 201 , the second section 202 is inclined upward by a predetermined acute angle, which may vary according to different structures of the fuselage 10 or other structures, which is not limited here.

Please refer to FIG. 2 again, the plurality of arms 20 includes a first arm set 22 and a second arm set 24 . The circumferential side 11 includes opposite first side 101 and second side 102 , the first side 101 defines a first recess 1010 , and the second side 102 defines a second recess 1020 . When the UAV 100 is in the folded state, the arms 20 of the first arm set 22 are at least partially located in the first recess 1010 . The arms 20 of the second arm set 24 are at least partially located in the second recess 1020 . In this way, the arm 20 can fill the volume of the enveloping cube enclosed by the maximum size of the UAV 100 to the greatest extent, which improves the convenience of the UAV 100 .

The power assembly 21 is connected to the free end of the machine arm 20 . The free end refers to the end of the arm away from the fuselage 10 . In the folded state, the arm 20 is closed to the circumferential side 11 of the fuselage 10 , and the plurality of power components 21 are basically attached. In this way, the arm 20 and the power assembly 21 of the UAV 100 fill up the volume of the enveloping cube surrounded by the maximum size of the UAV 100 to the maximum, which improves the convenience of the UAV 100 .

The so-called basic fit refers to gathering together, and is not limited to the fit of each part. For example, the propeller 212 of the power assembly 21 may not be attached, but the motor 211 may be attached. Substantial fit may also refer to touching together, or may refer to being separated by a distance, the distance being within a desired range.

Please refer to FIG. 2 again, in some embodiments, the power assembly 21 includes a first power assembly 21a and a second power assembly 21b.

A plurality of machine arms 20 includes a first machine arm group 22 and a second machine arm group 24, the circumferential side 11 includes a first side 101 and a second side 102 opposite to each other, and the first machine arm group 22 is rotatably connected to the first side 101, the second arm set 24 is rotatably connected to the second side 102, the first power assembly 21a of the first arm set 22 is basically attached, and the second power assembly 21b of the second arm set 24 is basically attached. The first power assembly 21a is arranged on the first arm group 22 , and the second power assembly 21b is arranged on the second arm group 24 . In this way, when the UAV 100 is in the folded state, the arm 20 and the power assembly 21 of the UAV 100 fill the volume in the envelope cube surrounded by the maximum size of the UAV 100 to the greatest extent, which improves the unmanned Machine 100 Convenience.

Please refer to FIG. 9 and FIG. 10 together. The power assembly 21 includes a motor 211. In the folded state, the two motors 211 of the same machine arm group are basically attached. That is to say, the power assembly 21 includes a first power assembly 21a and a second power assembly 21b. The first power assembly 21a includes two motors 211, namely a first motor 211a and a second motor 211b, and the second power assembly 21b includes two motors 211, namely a third motor 211c and a fourth motor 211d. In some embodiments, four arms 20 are rotatably connected to the fuselage 10 . The four arms 20 include a first arm group 22 and a second arm group 24 . The first arm set 22 may include a first arm 20a and a second arm 20b. The second arm set 24 may include a third arm 20c and a fourth arm 20d. The free end of the first machine arm 20a is connected to the first motor 211a, the free end of the second machine arm 20b is connected to the second motor 211b, the free end of the third machine arm 20c is connected to the third motor 211c, and the free end of the fourth machine arm 20d The fourth motor 211d is connected. In the folded state, the first motor 211a and the second motor 211b are basically attached on the first side 101, specifically, the bottom of the first motor 211a is basically attached to the bottom of the second motor 211b; the third motor 211c and the second The four motors 211d are basically attached on the second side 102, specifically, the bottom of the third motor 211c is basically attached to the bottom of the fourth motor 211d. When the drone 100 is in a folded state, the motors 211 of the plurality of power assemblies 21 are located at the bottom 103 of the fuselage 10 . In this way, the shape of the UAV 100 can be as regular as possible in the folded state, and the arm 20 and the power assembly 21 of the UAV 100 can fill the volume in the enveloping cube surrounded by the maximum size of the UAV 100 to the greatest extent. The convenience of the UAV 100 is guaranteed.

Please refer to FIG. 1 and FIG. 9 together, the propeller 212 is connected to the motor 211 , and the propeller 212 includes folding paddles. In the embodiment shown in FIG. 9 , the drone includes four arms 20, namely: a first arm 20a, a second arm 20b, a third arm 20c and a fourth arm 20d. The power assembly 21 includes propellers 212, four propellers 212 are respectively arranged on the first machine arm 20a, the second machine arm 20b, the third machine arm 20c and the fourth machine arm 20d, and the four propellers 212 are respectively connected with the first motor 211a , the second motor 211b, the third motor 211c and the fourth motor 211d are connected. The first motor 211a, the second motor 211b, the third motor 211c and the fourth motor 211d can drive the four propellers 212 to rotate, thereby controlling the rotation direction and the rotation speed of the propellers 212 .

Please refer to FIG. 9 and FIG. 10 , the propeller 212 includes an upper surface 2121 and a lower surface 2122 , and when the UAV 100 is in a folded state, the upper surface 2121 of the propeller 212 faces away from the fuselage 10 . When the UAV 100 is in the unfolded state, the paddle plane of the propeller 212 is substantially horizontal, and when the UAV 100 is in the folded state, the paddle plane of the propeller 212 is parallel to the circumferential side 11 of the fuselage 10 . In this way, the unmanned aerial vehicle 100 can ensure stable flight performance in the unfolded state, and the appearance is as regular as possible in the folded state, without obvious protrusions, so as to fill the package surrounded by the maximum size of the unmanned aerial vehicle 100 to the greatest extent. The volume inside the network cube.

Specifically, in the example of FIG. 10 , when the UAV 100 is in a folded state, the paddle plane of the propeller 212 is parallel to the front side or the rear side of the fuselage 10 .

Please refer to FIG. 1 and FIG. 6 together, the pan-tilt camera 30 is connected to the bottom of the fuselage 10 . The orthographic projections of the pan-tilt camera 30 and the machine arm 20 on a plane are staggered, and the plane is perpendicular to the length direction of the fuselage 10, so that physical interference between the machine arm 20 and the pan-tilt camera 30 can be avoided.

Specifically, in the embodiment shown in FIG. 2 , the bottom 103 of the fuselage 10 is provided with an accommodating groove 1031, and the gimbal camera 30 is at least partially located in the accommodating groove 1031, which can further reduce the space occupation of the UAV 100. . In the embodiment shown in FIG. 2 , a part of the pan-tilt camera 30 is accommodated in the accommodating groove 1031 , and a part protrudes out of the accommodating groove 1031 .

When the UAV 100 is in a folded state, the pan-tilt camera 30 is located in the space surrounded by a plurality of arms 20 . In this way, the pan-tilt camera 30 is set in the space surrounded by a plurality of machine arms 20, and the volume in the envelope cube surrounded by the maximum size of the UAV 100 is filled to the greatest extent, and the convenience of the UAV 100 is improved. At the same time, a plurality of arms 20 can protect the pan-tilt camera 30, and try to prevent the pan-tilt camera 30 from being scratched, scratched, or damaged due to bumps when the drone 100 is carried after being folded.

It can be understood that, in other embodiments, the bottom 103 of the fuselage may not have the accommodating groove 1031 , and the pan-tilt camera 30 may be integrally protruded from the bottom 103 of the fuselage.

Please refer to FIG. 2 , FIG. 11 and FIG. 12 , the pan-tilt camera 30 includes a pan-tilt 31 and a camera 32 . The cloud platform 31 includes a first shaft assembly 311, a second shaft assembly 312 and a third shaft assembly 313, the first shaft assembly 311 is connected to the fuselage 10, the second shaft assembly 312 is connected to the first shaft assembly 311 and the third shaft assembly 313, The camera 32 is mounted on the third axis assembly 313, so that the gimbal 31 has three degrees of freedom of the axis, plus the three axes of freedom of the UAV 100 itself, the camera 32 can realize a maximum of six degrees of freedom of the axis. In some embodiments, the first axis assembly 311 is the pitch axis assembly 311 of the gimbal 31 (ie, the Pitch axis assembly), and the second axis assembly 312 is the yaw axis assembly 312 of the gimbal 31 (ie, the Yaw axis assembly). ), the third axis assembly 313 is the roll axis assembly 313 of the gimbal 31 (that is, the Roll axis assembly). That is to say, the pitch axis assembly 311 is connected to the fuselage 10 , the yaw axis assembly 312 is connected to the pitch axis assembly 311 and the roll axis assembly 313 , and the camera 32 is installed on the roll axis assembly 313 . The pitch axis assembly 311 includes a pitch axis motor, which can control the pitch motion of the camera 32 . The yaw axis assembly 312 includes a yaw axis motor that can control the yaw motion of the camera 32 . The roll axis assembly 313 includes a roll axis motor, which can control the roll motion of the camera 32 . In this way, flexible viewing of the UAV 100 can be realized.

The pan/tilt camera 30 can obtain a large control range of pitch motion through the configuration of the first axis assembly-Pitch axis assembly, the second axis assembly-Yaw axis assembly and the third axis assembly-Roll axis assembly, which is beneficial to the unmanned aerial vehicle 100 for overhead shooting, reverse shooting, and even overhead shooting. It can also obtain a large rolling motion control range, which is beneficial to shooting rotation and turnover images, and enhances the flexibility of film and television creation. At the same time, a larger rolling motion control range means that the image of the camera 32 can be directly rotated by 90 degrees Switching between horizontal and vertical shooting is beneficial for shooting vertical screen videos. The double ends of the rolling axis assembly 313 support the camera 32 , which enhances the stability of the pan-tilt camera 30 . It is worth mentioning that the yaw control range of the UAV 100 is controllable in any yaw direction of 360°, and the UAV 100 can complement the yaw control range of the gimbal camera 30 . That is to say, the unmanned aerial vehicle 100 can realize large-scale, preliminary yaw control, and the pan-tilt camera 30 can realize small-scale, fine yaw control, so that the unmanned aerial vehicle 100 can achieve the yaw control with the pan-tilt camera 30 The scope of navigation control is complementary.

Referring to FIG. 12 , the motor axis of the pitch axis assembly 311 is the first axis K1 , the motor axis of the yaw axis assembly 312 is the second axis K2 , and the motor axis of the roll axis assembly 313 is the third axis K3 . Wherein, the first axis K1, the second axis K2 and the third axis K3 may not be orthogonal, that is, not perpendicular to each other. When the included angles among the three axes are all non-90-degree included angles, the configuration of the non-orthogonal pan/tilt camera 30 is formed. In one embodiment, when a certain pan/tilt motor rotates, causing the camera 32 to take pictures in the rolling direction, the motor is called an orthogonal roll axis motor; when a certain pan/tilt motor rotates In the case of movement, the camera 32 causes movement in multiple directions such as the rolling direction and the pitching direction of the picture taken by the camera 32, and the motor is called a non-orthogonal rolling axis and pitching axis motor. The movement of other axes can also be deduced by analogy.

Referring to Fig. 13, the obstacle avoidance assembly 40 includes a plurality of visual sensors 41, and a plurality of visual sensors 41 are distributed in a polyhedron in space, and each plane of the polyhedron is distributed with at least one visual sensor 41, and two visual sensors 41 on different planes A binocular obstacle avoidance system is formed, and the obstacle avoidance observation area of the binocular obstacle avoidance system is the overlapping area of the observation ranges of the two visual sensors 41 . By observing the obstacles in the obstacle avoidance observation area of the binocular obstacle avoidance system, the effective perception and avoidance of obstacles can be realized to ensure the safety of the drone during work.

The multiple visual sensors 41 are distributed in a polyhedron in space, and the polyhedron includes but not limited to tetrahedron, pentahedron, hexahedron, etc., which are not specifically limited here. Each plane of the polyhedron is distributed with at least one visual sensor 41, and two visual sensors 41 on different planes form a binocular obstacle avoidance system, and the obstacle avoidance observation area of the binocular obstacle avoidance system is the range of observation of the two visual sensors 41. overlap area.

A plurality of visual sensors 41 can realize effective obstacle perception and obstacle avoidance if one of the following conditions is met: all visual sensors 41 are arranged on the fuselage 10, or some of the visual sensors 41 are arranged on the fuselage 10, and the rest of the visual sensors 41 are arranged on the machine arm 20, or all visual sensors 41 are arranged on the machine arm 20. In one embodiment, the obstacle avoidance assembly 40 includes four visual sensors 41, and the four visual sensors 41 can be arranged on the fuselage 10. The four visual sensors 41 are combined in pairs to form six binocular obstacle avoidance systems. The collection of the obstacle avoidance observation areas of the binocular obstacle avoidance system covers the entire space sphere, so that obstacles in the obstacle avoidance observation area of the binocular obstacle avoidance system can be observed to realize effective obstacle perception and obstacle avoidance, and ensure the work of the UAV. safety in the process.

In the embodiment shown in FIG. 4 , the four visual sensors 41 include a front upper visual sensor 41 , a rear upper visual sensor 41 , a lower left visual sensor 41 and a lower right visual sensor 41 . The front upper visual sensor 41 and the rear upper visual sensor 41 are located at the same height of the fuselage 10 , and the left lower visual sensor 41 and the right lower visual sensor 41 are located at the same height of the fuselage 10 . It can be understood that in other embodiments, the four visual sensors 41 can also be arranged in other ways, for example, the four visual sensors 41 include an upper left visual sensor 41, an upper right visual sensor 41, a front lower visual sensor 41 and a rear lower visual sensor 41, etc. . The four visual sensors 41 may all be located at the same height, or may be located at four different heights. It is not limited here.

When part of the visual sensors 41 are arranged on the fuselage 10, and the rest of the visual sensors 41 are arranged on the machine arm 20, still taking four visual sensors 41 as an example, three visual sensors 41 can be arranged on the circumferential side 11 or the bottom of the fuselage 103, another visual sensor can be set on the top of the fuselage (that is, the top surface 104). The vision sensors 41 on the circumferential sides 11 can be arranged at different heights of the fuselage 10, or at the same height.

When all visual sensors 41 are arranged on the machine arm 20, four visual sensors 41 are still taken as an example. The UAV 100 includes four machine arms, and each visual sensor 41 can be arranged on the free end of a corresponding machine arm 20. . It is advisable that the motor 211 and the propeller 212 do not enter the field of view (FOV) of the visual sensor 41 .

The FOV of the visual sensor 41 in the above-mentioned embodiment can be selected according to the configuration of the drone 100 and the arrangement of the visual sensor 41, so that the binocular obstacle avoidance system formed by the visual sensor 41 can completely cover or basically cover the drone 100. The entire sphere of space where . In some examples, the FOV may be greater than 180 degrees, such as 190 degrees, 220 degrees, etc.

It should be pointed out that the above is just a specific example to illustrate the arrangement of the visual sensor 41 , but it should not be construed as a limitation to the present application. For example, the plurality of visual sensors 41 may be two, three, or more than four, and so on.

The visual sensor 41 can be arranged on the installation part 111 , and the installation part 111 is arranged on the circumferential side 11 of the fuselage 10 , and when the UAV 100 is in a folded state, the installation part 111 abuts against the arm 20 . In this way, on the one hand, the installation part 111 facilitates the installation of the visual sensor 41 , on the other hand, the installation part 111 can limit the arms 20 to prevent the arms 20 from colliding and being damaged when they rotate, and can also protect the tilting shaft 31 at the same time.

Please refer to FIG. 2 and FIG. 13 together, the battery 50 can provide electric energy for the drone 100 . The top surface 104 of the fuselage 10 defines a receiving slot 1041 , and the battery 50 is at least partially received in the receiving slot 1041 . In some embodiments, the battery 50 is detachably accommodated in the receiving slot 1041 , and the detachment or installation direction of the battery 50 is along the length direction of the fuselage 10 . The center of gravity of the battery 50 coincides with the center of lift of the drone 100 in the vertical direction.

The receiving slot 1041 includes a battery compartment, and the receiving slot 1041 is used for receiving the battery 50 . The receiving slot 1041 and the battery 50 can be fixed by engaging, which is not limited herein. The size of the receiving groove 1041 is related to the size of the battery 50 . The center of gravity of the battery 50 coincides with the center of lift of the drone 100 in the vertical direction. The center of lift may be the center of the resultant of the lift of the four propellers 212 . The battery 50 includes an extended battery, which can enhance the endurance of the drone 100 . The center of gravity of the extended battery coincides with the center of lift of the UAV 100 in the vertical direction, and the lengthening and weighting of the battery will not cause the center of gravity of the UAV to shift horizontally (the horizontal direction is perpendicular to the vertical direction). The center of gravity of the UAV coincides with the center of lift of the UAV 100 in the vertical direction, which can make the output of the four propellers 212 of the UAV 100 average, which can improve the efficiency of the propellers 212 and is beneficial to battery life.

To sum up, the UAV 100 according to the embodiment of the present application includes a fuselage 10 and a plurality of arms 20 . A plurality of machine arms 20 are rotatably connected to the fuselage 10, so that the unmanned aerial vehicle 100 can be in a folded state and an unfolded state, and the free ends of the machine arms 20 are connected with a power assembly 21. In the process of switching between states, the machine arm 20 performs compound rotation around a rotating shaft, and the compound rotating includes rotating around a tilted rotating shaft direction. 21 basic fit. In this way, when the UAV 100 is in the folded state, the arm 20 and the power assembly 21 of the UAV 100 fill the volume in the envelope cube surrounded by the maximum size of the UAV 100 to the maximum, which improves the UAV. 100's in convenience.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. mean that the embodiments are combined Specific features, structures, materials, or characteristics described in or examples are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present application. The scope of the application is defined by the claims and their equivalents.

Claims

A kind of unmanned aerial vehicle, is characterized in that, comprises:

body,

A plurality of machine arms are rotatably connected to the fuselage, so that the drone can be in a folded state and an unfolded state, and the free ends of the arms are connected with power components,

Wherein, during the switching process of the UAV between the folded state and the unfolded state, the arm rotates around an inclined shaft, and in the folded state, the arm is folded on the circumferential side of the fuselage, And a plurality of said power components are basically bonded.
The unmanned aerial vehicle according to claim 1, wherein the plurality of arms comprises a first arm group and a second arm group, and the circumferential sides comprise opposite first sides and second sides , the first machine arm group is rotatably connected to the first side, the second machine arm group is rotatably connected to the second side, the power components of the first machine arm group are basically attached, and the second machine arm group is rotatably connected to the second side. The power components of the two arm groups basically fit together.
The unmanned aerial vehicle according to claim 2, wherein the power assembly includes a motor, and the two motors of the same arm group are basically attached.
The unmanned aerial vehicle according to claim 1, wherein when the unmanned aerial vehicle is in a folded state, a plurality of motors of the power components are located at the bottom of the fuselage.
The drone according to claim 3, wherein the power assembly includes a propeller connected to the motor, the propeller includes an upper surface and a lower surface, and when the drone is in a folded state, the The upper surface of the propeller faces away from the fuselage.
The unmanned aerial vehicle according to claim 5, wherein the propeller is a folding paddle.
The unmanned aerial vehicle according to claim 5, wherein when the unmanned aerial vehicle is in an unfolded state, the paddle plane of the propeller is substantially horizontal, and when the unmanned aerial vehicle is in a folded state, the propeller The paddle planes are parallel to the circumferential sides of the fuselage.
The unmanned aerial vehicle according to claim 2, wherein when the unmanned aerial vehicle is in a folded state, the arms of the same arm group are arranged side by side on the side where it is located.
The unmanned aerial vehicle according to claim 1, wherein the arm comprises a connected first section and a second section, the first section is rotatably connected to the fuselage, and the second section is relative to the The first segment is inclined upward at a preset acute angle.
The unmanned aerial vehicle according to claim 1, wherein the fuselage includes a first surface, a second surface, and a third surface that are orthogonal to each other, and the rotation axis of the arm is in the same position as the first surface. The first included angle between the planes is selected from the range (0°, 90°), and the second included angle between the rotation axis of the arm and the plane where the second surface is located is selected from the range (0°, 90° ), the third angle between the rotation axis of the arm and the plane where the third surface is located is selected from the range (0°, 90°).
The drone according to claim 10, wherein the first included angle is 34°.
The drone according to claim 10, wherein the second included angle is 21°.
The drone according to claim 10, wherein the third included angle is 45°.
The unmanned aerial vehicle according to claim 2, wherein the first side is provided with a first depression, and when the unmanned aerial vehicle is in a folded state, the arms of the first arm group are at least partially located in the first recess.
The unmanned aerial vehicle according to claim 2, wherein the second side is provided with a second depression, and when the unmanned aerial vehicle is in a folded state, the arms of the second arm group are at least partially located in the second recess.
The unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle includes a pan-tilt camera connected to the bottom of the fuselage, and when the unmanned aerial vehicle is in a folded state, the pan-tilt camera is located In the space enclosed by the plurality of machine arms.
The unmanned aerial vehicle according to claim 16, wherein an accommodation slot is opened at the bottom of the fuselage, and the pan/tilt camera is at least partially located in the accommodation slot.
The unmanned aerial vehicle according to claim 16, wherein the pan-tilt camera comprises a pan-tilt and a camera, the pan-tilt comprises a first shaft assembly, a second shaft assembly and a third shaft assembly, the first A shaft assembly is connected to the fuselage, the second shaft assembly is connected to the first shaft assembly and the third shaft assembly, and the camera is mounted on the third shaft assembly.
The unmanned aerial vehicle according to claim 18, wherein the first axis assembly is a pitch axis assembly of the gimbal, the second axis assembly is a yaw axis assembly of the gimbal, and the The third axis assembly is the roll axis assembly of the gimbal.
The unmanned aerial vehicle according to claim 16, wherein the orthographic projection of the arm and the pan-tilt camera on a plane is staggered, and the plane is perpendicular to the length direction of the fuselage.
The unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle includes an obstacle avoidance component, and the obstacle avoidance component includes a plurality of visual sensors, and the plurality of visual sensors are distributed in a polyhedron in space, so Each plane of the polyhedron is distributed with at least one visual sensor, and two visual sensors on different planes form a binocular obstacle avoidance system, and the obstacle avoidance observation area of the binocular obstacle avoidance system is the The overlapping area of the observation range.
The unmanned aerial vehicle according to claim 21, wherein the plurality of visual sensors meet one of the following conditions:

All visual sensors are arranged on the fuselage;

Part of the visual sensors are set on the fuselage, and the rest of the visual sensors are set on the arms;

All vision sensors are located on the arms.
The unmanned aerial vehicle according to claim 21, wherein a mounting portion is provided on the circumferential side of the fuselage, the visual sensor is mounted on the mounting portion, and when the unmanned aerial vehicle is in a folded state, The mounting portion abuts against the machine arm.
The drone according to claim 1, wherein the drone includes a tripod connected to the bottom of the fuselage.
The UAV according to claim 24, wherein the tripod is foldable, and when the UAV is in a folded state, the tripod is gathered around the circumferential side of the fuselage.
The drone according to claim 25, wherein when the drone is in a folded state, at least a part of the arm covers at least a part of the tripod.
The unmanned aerial vehicle according to claim 1, wherein a receiving slot is opened on the top surface of the fuselage, the drone includes a battery, and the battery is at least partially accommodated in the receiving slot.
The UAV according to claim 27, wherein the center of gravity of the battery coincides with the center of lift of the UAV in the vertical direction.
The unmanned aerial vehicle according to claim 27, wherein the battery is detachably accommodated in the storage slot.
The unmanned aerial vehicle according to claim 29, characterized in that, the disassembly direction or installation direction of the battery is along the length direction of the fuselage.